Soft Robotic Gripper with Adjustable Linkages for Confined Space Navigation
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Solution Overview
Problem
Conventional robotic systems face difficulties in navigating confined spaces and grasping items of varying sizes and shapes due to bulky components and the uncertainty of object weight, size, and shape, leading to inefficient retrieval in warehouse environments.
Innovation Solution
The development of soft robotic grasping systems featuring linkages and pivots connected by linear actuators that allow adjustable distances, with soft robotic fingers made of elastomeric materials that can curl and conform to objects, enabling adaptive grasping and reduced risk of damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If conventional robotic arms with bulky components are used, then they can provide sufficient structural support and actuation force, but they cannot navigate confined spaces and tight storage constraints
Solution Approach 1:
The robotic system is divided into modular components: a compact base, telescoping linkages with multiple segments, and interchangeable end effectors. This segmentation allows the arm to navigate confined spaces while maintaining structural support capability through coordinated movement of discrete segments.
Solution Approach 2:
The robotic arm employs dynamically adjustable linkages that can change length and configuration during operation. The telescoping mechanism allows the arm to compress to minimal width for navigation, then extend to provide sufficient reach and support for grasping operations in confined warehouse spaces.
2Force
If conventional rigid grippers are used, then they can provide strong grasping force, but they cannot adapt to items of varying sizes, shapes, and weights
Solution Approach 1:
The end effector employs dynamically adjustable fingers with variable stiffness control. Pneumatic or hydraulic actuators allow real-time modification of finger curvature and contact force, enabling the same gripper to safely handle fragile items and firmly grasp heavier objects of varying geometries.
Solution Approach 2:
The system changes physical parameters of the gripper including finger curvature, contact surface area, and applied force magnitude based on object characteristics. Sensors detect object properties and automatically adjust gripper parameters to optimize grasping force while preventing damage to diverse items.
3Adaptability or versatility
If telescoping linkages with adjustable pivots are used, then the system can adapt to different object positions and sizes, but the device complexity increases
Solution Approach 1:
The telescoping linkage design uses standardized, interchangeable components that serve multiple functions. The same pivot joints and linkage segments used for positioning also provide structural support and force transmission, reducing the need for separate specialized mechanisms and managing overall system complexity.
4Object-affected harmful factors
If soft robotic fingers made of elastomeric materials are used, then they can conform to objects without damaging them, but the structural support and actuation force may be reduced
Solution Approach 1:
The robotic fingers combine soft elastomeric outer layers with embedded rigid reinforcement structures. This composite construction allows the fingers to conform to and protect delicate objects while maintaining sufficient structural strength and actuation force through the integrated rigid elements.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The soft robotic grasping system allows for efficient and adaptive grasping of diverse objects without damaging them, improving navigation in confined spaces and reducing the need for specialized coatings, thus enhancing the automation of item retrieval in warehouses.
Implementation Method 1
A linear actuator disposed between the pivot point and the proximal end of the soft robotic finger may move in the lateral direction under the control of a controller
Implementation Method 2
The upper linear actuator and lower linear actuator may be controlled, by the controller, to balance a force on the linkages, or to amplify a force applied at the distal end of the soft robotic fingers
Implementation Method 3
The soft robotic finger may include an elastomeric outer surface surrounding an internal void, and may be configured to curl when a pressure change occurs within the internal void
Data Source
AI summary
Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.